System and method of a velocity control mechanism for a vehicle

ABSTRACT

A velocity control mechanism is operable to control a vehicle at a maximum forward velocity setting and a maximum rearward velocity setting. The velocity control mechanism includes a processor configured to receive a first signal from an actuator selectively positionable in a velocity control mode in which the vehicle operates at a maximum limited forward velocity less than the maximum forward velocity setting and a maximum limited rearward velocity less than the maximum rearward velocity setting. The first signal represents a desired vehicle forward velocity. The processor also configured to control a velocity of the vehicle in the forward direction based on the first signal and receive a second signal from the actuator. The second signal represents a desired vehicle rearward velocity. The processor further configured to control a velocity of the vehicle in the rearward direction based on the second signal.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional to U.S. application Ser. No. 14/885,630filed on Oct. 16, 2015, the content of which is incorporated herein byreference.

BACKGROUND

The present disclosure relates to a vehicle including a velocity controlmechanism.

SUMMARY

In one aspect, the disclosure provides a velocity control mechanismoperable to control a vehicle at a maximum forward velocity setting anda maximum rearward velocity setting. The velocity control mechanismincludes a processor configured to receive a first signal from anactuator selectively positionable in a velocity control mode in whichthe vehicle operates at a maximum limited forward velocity less than themaximum forward velocity setting and a maximum limited rearward velocityless than the maximum rearward velocity setting. The first signalrepresents a desired vehicle forward velocity. The processor is alsoconfigured to control a velocity of the vehicle in the forward directionbased on the first signal and receive a second signal from the actuator.The second signal represents a desired vehicle rearward velocity. Theprocessor is further configured to control a velocity of the vehicle inthe rearward direction based on the second signal.

In another aspect, the disclosure provides a velocity control mechanismfor a vehicle operable to move in a forward direction and a rearwarddirection. The velocity control mechanism includes a first forward slotin which an actuator is moveable to control a forward acceleration ofthe vehicle and a first rearward slot parallel to the first forwardslot. The actuator is moveable within the first rearward slot to controla rearward acceleration of the vehicle. The velocity control mechanismalso includes a side slot orthogonal to the first forward and rearwardslot. The actuator is moveable within the side slot to control thevehicle at a forward determined velocity. The velocity control mechanismfurther includes a second forward slot parallel to the first forwardslot and in communication therewith by a passageway. The actuator ismoveable within the second forward slot to control a forward velocity ofthe vehicle. The velocity control mechanism includes a second rearwardslot parallel to the first rearward slot and in communication therewithby the passageway. The actuator is moveable within the second rearwardslot to control a rearward velocity of the vehicle.

Other aspects of the disclosure will become apparent by consideration ofthe detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a vehicle including a velocity controlmechanism according to an embodiment of the disclosure.

FIG. 2 is a perspective view of the velocity control mechanism locatedwithin a cab of the vehicle of FIG. 1.

FIG. 3 is a top view of the velocity control mechanism of FIG. 2including a joystick.

FIG. 4 illustrates a graph of a relative position of the joystick ofFIG. 3 in response to a force acting on the joystick.

FIG. 5 illustrates a graph of a relative position of the joystick ofFIG. 3 and a velocity of the vehicle.

FIG. 6 illustrates a method of operation of the velocity controlmechanism.

DETAILED DESCRIPTION

Before any embodiments of the disclosure are explained in detail, it isto be understood that the disclosure is not limited in its applicationto the details of construction and the arrangement of components setforth in the following description or illustrated in the followingdrawings. The disclosure is capable of supporting other embodiments andof being practiced or of being carried out in various ways.

FIG. 1 illustrates a vehicle 10 operable to move in a forward direction15 or a rearward direction 20 by a prime mover 25 driveably coupled towheels 30. In the illustrated embodiment, the vehicle 10 is anagricultural tractor; however, the vehicle 10 described herein is notlimited in its application to agricultural tractors and may beassociated with other vehicles. For example, the vehicle 10 may be earthmoving vehicles, construction vehicles, snow removal vehicles, sandmoving vehicles, forestry harvesting vehicles, cargo moving vehicles,mining vehicles, on highway vehicles, automotive vehicles, etc. In otherembodiments, the wheels 30 may be continuous tracks providing tractionto the vehicle 10.

The illustrated prime mover 25 may include any power source to providerotational driveline power to the wheels 30. For example, the primemover 25 may include, but is not limited to, an internal combustionengine, a piston engine, a rotary engine, a hydraulic motor, ahydrostatic system, an electric motor, etc. In some embodiments, atransmission 35 is driveably coupled between the prime mover 34 and thewheels 30 to provide a mechanical gear reduction therebetween. Theillustrated prime mover 25, the wheels 30, and the transmission 35 areoperable to move the vehicle 10 at a determined velocity either in theforward direction 15 or the rearward direction 20. In the illustratedembodiment, the maximum forward velocity is about 50 kilometer per hour(km/hr), and the maximum rearward velocity is about 30 km/hr. In otherembodiments, the maximum forward velocity is about 40 km/hr and themaximum rearward velocity is about 20 km/hr.

With reference to FIGS. 1 and 2, a velocity control mechanism 40 islocated within a cab 45 of the vehicle 10. The illustrated velocitycontrol mechanism 40 includes a control processor 42 and is operable tocontrol a velocity of the vehicle 10 in the forward direction 15 or therearward direction 20 as well as to control the vehicle 10 into astopped or immobile state. In particular, the velocity control mechanism40 is coupled to a command seat or control console 50 with the seat 50rotatable such that the seat 50 can face the forward direction 15 or therearward direction 20. In other embodiments, the velocity controlmechanism 40 may be located elsewhere in the cab 45 separate from thecommand seat 50 such that the velocity control mechanism 40 does notmove relative to the command seat 50. In addition, the velocity controlmechanism 40 is positioned adjacent other controls (e.g., a hitchcontrol, a selective control valve (SCV), a power take-off (PTO), etc.)located within the cab 45. In the illustrated embodiment, an acceleratorpedal 60, which is operable to control acceleration and velocity of thevehicle 10, and a brake pedal 55, which is operable to controldeceleration of the vehicle 10, are also located in the cab 45.

With reference to FIG. 3, the velocity control mechanism 40 includes anactuator 65 (e.g., a lever or joystick) selectively positionable withina pathway 70 in the form of an aperture within a portion of the controlconsole 50 defining an acceleration control mode 75 and a velocitycontrol mode 80. The illustrated acceleration control mode 75 includes afirst forward recess, slot, or gate 85, a first rearward gate 90parallel with the first forward gate 85, and a side gate 95perpendicular to the gates 85, 90. An intermediate control mode 100 isdefined by a passageway 105 and is located between the first forwardgate 85, the first rearward gate 90, and the side gate 95 and is alsoparallel with the side gate 95. In the illustrated embodiment, thejoystick 65 is biased into the intermediate control mode 100, at aposition illustrated in FIG. 3, by a biasing member (e.g., a spring). Anoperator can move the joystick 65 out of the position illustrated inFIG. 3 by overcoming a detent mechanism (not shown) surrounding thejoystick 65.

The illustrated passageway 105 provides communication between theacceleration control mode 75 (i.e., the first forward gate 85, the firstrearward gate 90, and the side gate 95) and a second forward gate 110and a second rearward gate 115 associated with the velocity control mode80. As such, the intermediate control mode 100 is located between theacceleration control mode 75 and the velocity control mode 80. In theillustrated embodiment, the second forward gate 110 is parallel to thefirst forward gate 85 with the first forward gate 85 extending furtherfrom the passageway 105 than the second forward gate 110, and the secondrearward gate 115 is parallel to the first rearward gate 90 with thefirst rearward gate 90 extending further from the passageway 105 thanthe second rearward gate 115.

A primary forward detent mechanism 120 is positioned near an end of thefirst forward gate 85 away from the intermediate control mode 100, and aprimary rearward detent mechanism 125 is positioned near an end of thefirst rearward gate 90 away from the intermediate control mode 100. Inthe illustrated embodiment, the detent mechanisms 120, 125 arenon-latching detents that provide positive feedback when the joystick 65engages the detent mechanisms 120, 125. In addition, a limited forwarddetent mechanism 130 is positioned at or near an end of the secondforward gate 110 adjacent the passageway 105, and a limited rearwarddetent mechanism 135 is positioned at or near an end of the secondrearward gate 115 adjacent the passageway 105. The detent mechanisms130, 135 are similar to the detent mechanisms 120, 125 in that thedetent mechanisms 130, 135 provide positive feedback when the joystick65 engages the detent mechanisms 130, 135.

With reference to FIGS. 2 and 3, an adjustment mechanism 140 ispartially enclosed within the joystick 65 such that two portions (one ofwhich is shown in FIG. 2) opposite from each other are configured to begripped by the operator. In the illustrated embodiment, the adjustmentmechanism is an encoder wheel rotatable about an axis 145. In otherembodiments, the adjustment mechanism 140 may be located on a topsurface of the joystick 65. In further embodiments, the adjustmentmechanism 140 may be linearly translatable relative to the joystick 65.

In operation, the operator of the vehicle can manipulate the joystick 65within the acceleration control mode 75 to control acceleration, andultimately a velocity, of the vehicle 10 in the forward direction 15 orthe rearward direction 20. In particular, a position of the joystick 65within the acceleration control mode 75 is conveyed to the processor 42to control acceleration of the vehicle 10. By moving the joystick 65into the first forward gate 85 towards the detent mechanism 120, thevehicle 10 accelerates in the forward direction 15 at a set accelerationrate programmed within the processor 42. Thus, any position of thejoystick 65 within the first forward gate 85 will accelerate the vehicle10 at the set acceleration rate. In the illustrated embodiment, theprocessor 42 is programmed with three different forward accelerationrates to which the operator can select between. For example, a switchmay be located on the joystick 65 or the control console 50 to selectbetween the three different acceleration rates. In other embodiments,the processor 42 may be programmed with more or fewer than threeacceleration rates. If the operator releases the joystick 65 within thefirst forward gate 85, the joystick 65 biases back into the intermediatecontrol mode 100 at the position illustrated in FIG. 3, and the vehiclewill remain at a velocity reached during acceleration prior to releasingthe joystick 65.

A maximum forward velocity of the vehicle 10 is selected when thejoystick 65 engages the detent mechanism 120, illustrated as joystick65A in FIG. 3. In one embodiment, the maximum forward velocity isselectively programmed into the processor 42 such that the operator canselect one of a plurality of maximum velocities. In other embodiments,the maximum forward velocity may be the absolute maximum velocity of thevehicle 10, or the maximum forward velocity may be a determined maximumforward velocity suitable for a specific terrain (e.g., hilly, bumpy,incline, etc.). In the illustrated embodiment, the detent mechanism 120conveys manual feedback to the operator when the joystick 65A reachesthe maximum forward velocity. If the operator releases the joystick 65Aafter engaging the detent mechanism 120, the joystick 65A biases backinto the intermediate control mode 100 at the position illustrated inFIG. 3, but the vehicle 10 will continue to accelerate at the setacceleration rate until the maximum forward velocity is reached. At anytime during operation, the operator can actuate the brake pedal 55 tooverride the velocity control mechanism 40, which decelerates thevehicle 10 into the immobile state. However, the vehicle 10 will againaccelerate once the brake pedal 55 is released and the joystick 65positioned within the first forward gate 85.

The side gate 95 is operable to maintain a forward set point velocity ofthe vehicle 10. Stated another way, when the joystick 65 is moved intothe side gate 95, illustrated as joystick 65B in FIG. 3, the vehicle 10will accelerate or decelerate to and hold at a predetermined velocity,similarly to an automotive cruise control mechanism. The forward setpoint velocity is adjustable by the operator. In the illustratedembodiment, the joystick 65B is biased back into the intermediatecontrol mode 100 at the position illustrated in FIG. 3 once released,but the vehicle 10 is maintained at the forward set point velocity. Inother embodiments, the joystick 65B is not biased into the intermediatecontrol mode 100 once the operator releases the joystick 65B within theside gate 95. Rather, the joystick 65B is maintained in the side gate 95until the operator moves the joystick 65B back into the intermediatecontrol mode 100.

By moving the joystick 65 into the first rearward gate 90 towards thedetent mechanism 125, the vehicle 10 accelerates in the rearwarddirection 20 at a set acceleration rate selected by the operator,similar to moving the joystick 65 into the first forward gate 85 asdiscussed above. In the illustrated embodiment, the processor 42 isprogrammed with three different rearward acceleration rates betweenwhich the operator can select. If the operator releases the joystick 65within the first rearward gate 90, the joystick 65 biases back into theintermediate control mode 100 in the position illustrated in FIG. 3 andthe vehicle will remain at a velocity reached during acceleration priorto releasing the joystick 65. In other embodiments, the processor 42 maybe programmed with more or fewer than three acceleration rates. At anytime during operation, the operator can actuate the brake pedal 55 tooverride the velocity control mechanism 40. However, the vehicle 10 willagain accelerate once the brake pedal 55 is released and the joystick 65positioned within the first rearward gate 90.

In addition, the operator can stop the vehicle by manipulating thejoystick 65 within the acceleration control mode 75. For example, bymoving the joystick 65 into the first forward 85 and releasing thejoystick 65 to be biased into the position illustrated in FIG. 3, thevehicle 10 will travel at a set velocity in the forward direction 15, asdescribed above. If the operator then moves the joystick 65 to engagethe detent 125, illustrated as joystick 65C in FIG. 3, and againreleases the joystick 65C to be biased back into the positionillustrated in FIG. 3, the vehicle 10 will decelerate to a stop. Asimilar operation is performed if the vehicle 10 is accelerating in therearward direction 20 and the operator moves the joystick 65 intoengagement with the detent 120.

It is advantageous to directly control a velocity of the vehicle 10(rather than controlling an acceleration of the vehicle 10 to reach adesired velocity) to increase accuracy and manipulation while thevehicle 10 is moving. For example, the vehicle 10 may be selectivelyattached to an auxiliary implement, which may include a trailer attachedto a hitch of the vehicle 10, a hydraulic loader bucket attached to afront portion of the vehicle 10, etc. While moving the vehicle 10 intoalignment with the auxiliary implement to be attached thereto, theoperator decreases the velocity of the vehicle 10 while approaching theauxiliary implement.

The velocity control mode 80 provides direct velocity control to thevehicle 10 compared to controlling an acceleration of the vehicle 10 viathe acceleration control mode 75. By moving the joystick 65 along thepassageway 105 of the intermediate control mode 100 away from the sidegate 95, the joystick 65 is positioned to enter into the second forwardgate 110 or the second rearward gate 115. To enter the second forwardgate 110, the joystick 65 engages and moves past the detent mechanism130 providing the operator positive feedback such that the operator doesnot inadvertently enter the second forward gate 110.

With reference to FIG. 4, a user must apply a threshold force 150 to thejoystick 65 to enter the second forward gate 110 or the second rearwardgate 115. In the illustrated embodiment, the threshold force 150 issubstantially the force associated with moving the joystick 65 past thedetent mechanisms 130, 135. A position of the joystick 65 within thesecond forward gate 110 or the second rearward gate 115 is illustratedby a percent of position away from the intermediate control mode 100. Inthe illustrated embodiment, the threshold force 150 is about 2.5 Newtons(N) or about 0.5 pounds-force (lbf); however, in other embodiments, thethreshold force 150 may be greater than or less than 0.5 lbf. Once thethreshold force 150 is exceeded, the force to move the joystick 65linearly increases. In other embodiments, the force required to move thejoystick 65 after the threshold force 150 is exceeded may increase in adifferent matter (e.g., quadratically).

With reference to FIGS. 5 and 6, a method 155 of controlling a velocityof the vehicle 10 via the velocity control mechanism 40 is illustrated.Moving the joystick 65 from the intermediate control mode 100 to thevelocity control mode 80 (step 160) will align the joystick 65 with thesecond forward gate 110 and the second rearward gate 115. By moving thejoystick 65 into the second forward gate 110 (step 165) and overcomingthe threshold force 150, the vehicle 10 moves in the forward direction15 at a velocity proportional to a position of the joystick 65 withinthe second forward gate 110. In particular, the velocity controlmechanism 40 controls a velocity of the vehicle 10 by conveying a signalto the processor 42 representing a relative position of the joystick 65within the velocity control mode 80 (step 170). In the illustratedembodiment, an absolute velocity of the vehicle 10 when the joystick 65is within the velocity control mode 80 spans from the immobile state ofthe vehicle 10 to a maximum limited velocity setting of about 2 km/hr.The maximum limited velocity setting is less than the maximum velocityof the vehicle 10. In the illustrated embodiment, the maximum limitedvelocity setting is determined within the processor 42. In otherembodiments, the maximum limited velocity setting may be less than 5km/hr. The maximum limited velocity setting is reached when the joystick65 is positioned at an end of the second forward gate 110 away from thedetent mechanism 130, illustrated as joystick 65D in FIG. 3. Theillustrated relationship between a velocity of the vehicle 10 and arelative position of the joystick 65 within the second forward gate 110is non-linear (e.g., a quadratic relationship) to increase resolution atlower velocities. In other embodiments, the relationship between avelocity of the vehicle 10 and a relative position of the joystick 65within the second forward gate 110 may be different (e.g., a linearrelationship).

The adjustment mechanism 140 is operable to increase or decrease (e.g.,expand or contract) a range of velocities as illustrated in FIG. 5. Forexample, by rotating the adjustment mechanism 140 in a first direction,a signal is conveyed to the processor 42 and the maximum limitedvelocity setting (e.g., 2 km/hr) increases, and if the adjustmentmechanism 140 is rotated in a second direction opposite from the firstdirection, a signal is conveyed to the processor 42 and the maximumlimited velocity setting decreases. In the illustrated embodiment, theadjustment mechanism 140 can increase the maximum limited velocitysetting to about 5 km/hr. However, once the joystick 65 is released andbiased into the intermediate control mode 100 at the positionillustrated in FIG. 3, the maximum limited velocity setting defaultsback to the original maximum limited velocity setting (e.g., 2 km/hr).

If the operator releases the joystick 65 after entering the secondforward gate 110, the joystick 65 biases back into the intermediatecontrol mode 100 thereby stopping the vehicle 10. Alternatively, theoperator can actuate the brake pedal 55 to override the velocity controlmechanism 40. However, the vehicle 10 will return to a velocityproportional to the position of the joystick 65 within the secondforward gate 110 once the brake pedal 55 is released.

By moving the joystick 65 into the second rearward gate 115, the vehicle10 moves in the rearward direction 20 at a velocity proportional to aposition of the joystick 65 within the second rearward gate 110, asillustrated within FIG. 5. In particular, a signal is conveyed to theprocessor 42 to control a velocity—in the rearward direction 20—of thevehicle 10. The maximum limited velocity setting is reached when thejoystick 65 is positioned at an end of the second rearward gate 115 awayfrom the detent mechanism 135, as illustrated as joystick 65E in FIG. 3.If the operator releases the joystick 65 after entering the secondrearward gate 115, the joystick 65 biases back into the intermediatecontrol mode 100 thereby stopping the vehicle 10. Alternatively, theoperator can actuate the brake pedal 55 to override the velocity controlmechanism 40. However, the vehicle 10 will return to a velocityproportional to the position of the joystick 65 within the secondrearward gate 115 once the brake pedal 55 is released.

The operator can also change direction (e.g., either in the forwarddirection 15 or the rearward direction 20) of the vehicle 10 by movingthe joystick 65 from the acceleration control mode 75 to the velocitycontrol mode 80. In particular, the operator moves the joystick 65 fromthe first forward gate 85 to the second rearward gate 115 and maintainsthe joystick 65 within the second rearward gate 115. As such, thevehicle 10 will stop from moving and accelerating in the forwarddirection 15 and will then move in the rearward direction 20 at avelocity associated with a position of the joystick 65 within the secondrearward gate 115. However, if the operator releases the joystick 65from the second rearward gate 115 into the intermediate control mode 100before the vehicle 10 comes to a stop, the vehicle 10 will accelerate inthe rearward direction 20 until the same velocity is reached beforeentering the second rearward gate 115. A similar operation will occur ifthe operator moves the joystick 65 from the first rearward gate 90 intothe second forward gate 110 to change direction from the rearwarddirection 20 to the forward direction 15.

1. A velocity control mechanism operable to control a vehicle at amaximum forward velocity setting and a maximum rearward velocitysetting, the velocity control mechanism including a processor configuredto: receive a first signal from an actuator selectively positionable ina velocity control mode in which the vehicle operates at a maximumlimited forward velocity less than the maximum forward velocity settingand a maximum limited rearward velocity less than the maximum rearwardvelocity setting, the first signal representing a desired vehicleforward velocity; control a velocity of the vehicle in the forwarddirection based on the first signal; receive a second signal from theactuator, the second signal representing a desired vehicle rearwardvelocity; and control a velocity of the vehicle in the rearwarddirection based on the second signal.
 2. The velocity control mechanismof claim 1, wherein the first signal represents a desired vehicleforward velocity of less than about 5 kilometers per hour.
 3. Thevelocity control mechanism of claim 1, wherein the processor isconfigured to receive a third signal from an adjustment mechanismcoupled to the actuator, and wherein the third signal represents one ofa new desired maximum limited forward velocity or a new maximum limitedrearward velocity.
 4. The velocity control mechanism of claim 3, whereinthe third signal is produced by rotating the adjustment mechanism. 5.The velocity control mechanism of claim 1, wherein the processor isconfigured to receive a third signal from an adjustment mechanismcoupled to the actuator that represents a new desired maximum limitedforward velocity, and wherein the processor is further configured toincrease the maximum limited forward velocity in response to the thirdsignal.
 6. The velocity control mechanism of claim 1, wherein theprocessor is configured to receive a third signal from an adjustmentmechanism coupled to the actuator that represents a new desired maximumlimited rearward velocity, and wherein the processor is furtherconfigured to increase the maximum limited rearward velocity in responseto the third signal.
 7. A velocity control mechanism for a vehicleoperable to move in a forward direction and a rearward direction, thevelocity control mechanism comprising: a first forward slot in which anactuator is moveable to control a forward acceleration of the vehicle; afirst rearward slot parallel to the first forward slot, the actuatormoveable within the first rearward slot to control a rearwardacceleration of the vehicle; a side slot orthogonal to the first forwardand rearward slot, the actuator moveable within the side slot to controlthe vehicle at a forward determined velocity; a second forward slotparallel to the first forward slot and in communication therewith by apassageway, the actuator moveable within the second forward slot tocontrol a forward velocity of the vehicle; and a second rearward slotparallel to the first rearward slot and in communication therewith bythe passageway, the actuator moveable within the second rearward slot tocontrol a rearward velocity of the vehicle.
 8. The velocity controlmechanism of claim 7, wherein the actuator is biased into the passagewaydefining an intermediate control mode.
 9. The velocity control mechanismof claim 8, wherein when the actuator is released from one of the secondforward slot and the second rearward slot, the vehicle is not configuredto be controlled to move in the forward or rearward direction.
 10. Thevelocity control mechanism of claim 8, wherein the intermediate controlmode is in communication with the first forward slot, the first rearwardslot, and the side slot.